Rockwell Automation 1336T Function Block Prog. Manual, Series A/B - Manual (Page 101)

Function Block Library 4–39
1336 FORCE — 5.9 August 1995
FUNCTION
1. If set = true
KIout
i–1
= Preset
KIval = KIval
i–1
= 0.
2. If set = false
sum (limited to
±
32767) = Gain
×
(In+ – In–)/2048
KPout = sum
×
KP/4096
KIval = sum
×
KI/4096.
In Difout = In+ – In–
In Difout is clamped to
±
32767.
KIout = KIout
i–1
+ [(KIval + KIval
i–1
)
×
(
∆
t/2 = 1/100)]
1. If KIout + KPout > Max then,
Output = Max, Hi Lim = true, Lo Lim = false.
2. If KIout + KPout < Min then,
Output = Min, Hi Lim = false, Lo Lim = true.
3. If KIout + KPout is neither 1. nor 2. then,
Output = KIout + KPout.
PARAMETERS DATA TYPE LINKABLE DEFAULT VALUE RANGE
In+ Signed Integer Yes 0
±
32767
In– Signed Integer Yes 0
±
32767
Set Logic Input Yes False True/False
Preset Signed Integer No 0
±
32767
Gain Signed Integer No 2048
±
32767
KI Unsigned Integer No 4096 0 to + 32767
KP Unsigned Integer No 4096 0 to + 32767
Min Signed Integer No 0 0 to – 32767
Max Signed Integer No 0 0 to + 32767
Lo Lim Logic Output No — True/False
Hi Lim Logic Output No — True/False
Output Signed Integer No —
±
32767
In Dif Signed Integer No —
±
32767
PI CTRL
(continued)